Abstract: This paper presents the hardware implemented and
validation for a special system to assist the unprofessional users of
car with back trailers. The system consists of two platforms; the front
car platform (C) and the trailer platform (T). The main objective is to
control the Trailer platform using the actuators found in the front
platform (c). The mobility of the platform (C) is investigated and
inverse and forward kinematics model is obtained for both platforms
(C) and (T).The system is simulated using Matlab M-file and the
simulation examples results illustrated the system performance. The
system is constructed with a hardware setup for the front and trailer
platform. The hardware experimental results and the simulated
examples outputs showed the validation of the hardware setup.
Abstract: This paper presents a hybrid fuzzy logic control
strategy for a unicycle trajectory following robot on irregular terrains.
In literature, researchers have presented the design of path tracking
controllers of mobile robots on non-frictional surface. In this work,
the robot is simulated to drive on irregular terrains with contrasting
frictional profiles of peat and rough gravel. A hybrid fuzzy logic
controller is utilised to stabilise and drive the robot precisely with the
predefined trajectory and overcome the frictional impact. The
controller gains and scaling factors were optimised using spiral
dynamics optimisation algorithm to minimise the mean square error
of the linear and angular velocities of the unicycle robot. The robot
was simulated on various frictional surfaces and terrains and the
controller was able to stabilise the robot with a superior performance
that is shown via simulation results.
Abstract: Weed suppression and weeding are necessary measures
for rice cultivation. Weed suppression precedes the process of
weeding. It means suppressing the growth of young weeds and
creating a weed-less environment. If we suppress the growth of weeds,
we can reduce the number of weeds in a paddy field. This would result
in a reduction of the weeding work load.
In this paper, we will show how we developed a weed suppression
robot for the purpose of reducing the weeding work load. The robot
has a laser range finder for autonomous mobility and a robot arm for
weed suppression. It travels along the rice rows without stepping on
and injuring the rice plants in a paddy field. The robot arm applies
force to the weed seedlings and thereby suppresses the growth of
weeds. This paper will explain the methodology of the autonomous
mobile, the experiment in weed suppression, and the method of
controlling the robot’s posture on uneven ground.
Abstract: Robotics provides answers to amputees. The most
expensive solutions surgically connect the prosthesis to nerve endings.
There are also several types of non-invasive technologies that recover
nerve messages passing through the muscles. After analyzing these
messages, myoelectric prostheses perform the desired movement.
The main goal is to avoid all surgeries, which can be heavy and offer
cheaper alternatives. For an amputee, we use valid muscles to recover
the electrical signal involved in a muscle movement. EMG sensors
placed on the muscle allows us to measure a potential difference,
which our program transforms into control for a robotic arm with two
degrees of freedom. We have shown the feasibility of non-invasive
prostheses with two degrees of freedom. Signal analysis and an
increase in degrees of freedom is still being improved.
Abstract: The success of any retail business is predisposed by its
swift response and its knack in understanding the constraints and the
requirements of customers. In this paper a conceptual design model
of an automated customer-friendly supermarket has been proposed.
In this model a 10-sided, space benefited, regular polygon shaped
gravity shelves have been designed for goods storage and effective
customer-specific algorithms have been built-in for quick automatic
delivery of the randomly listed goods. The algorithm is developed
with two main objectives, viz., delivery time and priority. For
meeting these objectives the randomly listed items are reorganized
according to the critical-path of the robotic arm specific to the
identified shop and its layout and the items are categorized according
to the demand, shape, size, similarity and nature of the product for an
efficient pick-up, packing and delivery process. We conjectured that
the proposed automated supermarket model reduces business
operating costs with much customer satisfaction warranting a winwin
situation.
Abstract: In this work, we propose the application of Japanese
“Origami” art for a floating function of a small aerial vehicle such as a
hexarotor. A preliminary experiment was conducted using Origami
magic balls mounted under a hexarotor. This magic ball can expand
and shrink using an air pump during free flying. Using this interesting
and functional concept, it promises to reduce the resistance of wind as
well as reduce the energy consumption when the Origami balls are
deflated. This approach can be particularly useful in rescue emergency
situations. Furthermore, there are many unexpected reasons that may
cause the multi-rotor has to land on the surface of water due to
problems with the communication between the aircraft and the ground
station. In addition, a complementary experiment was designed to
prove that the hexarotor can fly maintaining the stability and also,
takes off and lands on the surface of water using air balloons.
Abstract: A method which allows a diabetic quadriplegic patient
that has had four limb amputations (above the knee and elbow) to
self-administer injections of insulin has been designed. The aim of
this research project is to improve a quadriplegic patient’s selfmanagement,
affected by diabetes, by designing a suitable device for
self-administering insulin.
The quadriplegic patient affected by diabetes has to be able to selfadminister
insulin safely and independently to guarantee stable
healthy conditions. The device also should be designed to adapt to a
number of different varying personal characteristics such as height
and body weight.
Abstract: Assistive robotics are playing a vital role in advancing the quality of life for disable people. There exist wide range of systems that can control and guide autonomous mobile robots. The objective of the control system is to guide an autonomous mobile robot using the movement of eyes by means of EOG signal. The EOG signal is acquired using Ag/AgCl electrodes and this signal is processed by a microcontroller unit to calculate the eye gaze direction. Then according to the guidance control strategy, the control commands of the wheelchair are sent. The classification of different eye movements allows us to generate simple code for controlling the wheelchair. This work was aimed towards developing a usable and low-cost assistive robotic wheel chair system for disabled people. To live more independent life, the system can be used by the handicapped people especially those with only eye-motor coordination.
Abstract: We present a dedicated video-based monitoring
system for quantification of patient’s attention to visual feedback
during robot assisted gait rehabilitation. Two different approaches for
eye gaze and head pose tracking are tested and compared. Several
metrics for assessment of patient’s attention are also presented.
Experimental results with healthy volunteers demonstrate that
unobtrusive video-based gaze tracking during the robot-assisted gait
rehabilitation is possible and is sufficiently robust for quantification
of patient’s attention and assessment of compliance with the
rehabilitation therapy.
Abstract: In recent years, many researchers are involved in the
field of fuzzy theory. However, there are still a lot of issues to be
resolved. Especially on topics related to controller design such as the
field of robot, artificial intelligence, and nonlinear systems etc.
Besides fuzzy theory, algorithms in swarm intelligence are also a
popular field for the researchers. In this paper, a concept of utilizing
one of the swarm intelligence method, which is called Bacterial-GA
Foraging, to find the stabilized common P matrix for the fuzzy
controller system is proposed. An example is given in in the paper, as
well.
Abstract: The aim of this research is to design and implement line-tracking mobile robot. The robot must follow a line drawn on the floor with different color, avoids hitting moving object like another moving robot or walking people and achieves color sensing. The control system reacts by controlling each of the motors to keep the tracking sensor over the middle of the line. Proximity sensors used to avoid hitting moving objects that may pass in front of the robot. The programs have been written using micro c instructions, then converted into PIC16F887 ATmega48/88/168 microcontrollers counterparts. Practical simulations show that the walking robot accurately achieves line following action and exactly recognizes the colors and avoids any obstacle in front of it.
Abstract: Localization of mobile robots are important tasks for
developing autonomous mobile robots. This paper proposes a method
to estimate positions of a mobile robot using a omnidirectional
camera on the robot. Landmarks for points of references are set
up on a field where the robot works. The omnidirectional camera
which can obtain 360 [deg] around images takes photographs of
these landmarks. The positions of the robots are estimated from
directions of these landmarks that are extracted from the images
by image processing. This method can obtain the robot positions
without accumulative position errors. Accuracy of the estimated
robot positions by the proposed method are evaluated through some
experiments. The results show that it can obtain the positions with
small standard deviations. Therefore the method has possibilities of
more accurate localization by tuning of appropriate offset parameters.
Abstract: In this paper we deal with using Lego Mindstorms in
simulation of robotic systems with respect to cost reduction. Lego
Mindstorms kit contains broad variety of hardware components
which are required to simulate, program and test the robotics systems
in practice. Algorithm programming went in development
environment supplied together with Lego kit as in programming
language C# as well. Algorithm following the line, which we dealt
with in this paper, uses theoretical findings from area of controlling
circuits. PID controller has been chosen as controlling circuit whose
individual components were experimentally adjusted for optimal
motion of robot tracking the line. Data which are determined to
process by algorithm are collected by sensors which scan the
interface between black and white surfaces followed by robot. Based
on discovered facts Lego Mindstorms can be considered for low-cost
and capable kit to simulate real robotics systems.
Abstract: In general, algorithms to find continuous k-nearest neighbors have been researched on the location based services, monitoring periodically the moving objects such as vehicles and mobile phone. Those researches assume the environment that the number of query points is much less than that of moving objects and the query points are not moved but fixed. In gaming environments, this problem is when computing the next movement considering the neighbors such as flocking, crowd and robot simulations. In this case, every moving object becomes a query point so that the number of query point is same to that of moving objects and the query points are also moving. In this paper, we analyze the performance of the existing algorithms focused on location based services how they operate under gaming environments.
Abstract: It was expected to benefit patient with hemiparesis after stroke by extensive arm rehabilitation, to partially regain forearm and hand function. This paper propose a robotic rehabilitation arm in assisting the hemiparetic patient to learn new ways of using and moving their weak arms. In this study, the robotic arm was driven by a somatosensory stimulated brain computer interface (BCI), which is a new modality BCI. The use of somatosensory stimulation is not only an input for BCI, but also a electrical stimulation for treatment of hemiparesis to strengthen the arm and improve its range of motion. A trial of this robotic rehabilitation arm was performed in a stroke patient with pure motor hemiparesis. The initial trial showed a promising result from the patient with great motivation and function improvement. It suggests that robotic rehabilitation arm driven by somatosensory BCI can enhance the rehabilitation performance and progress for hemiparetic patients after stroke.
Abstract: In this paper, a new method for multi criteria decision making is represented whichspecifies a trajectory satisfying desired criteria including minimization of time. A rescue robot is defined to perform certain tasks before the arrival of rescue team, including evaluation of the probability of explosion in the area, detecting human-beings, and providing preliminary aidsin case of identifying signs of life, so that the security of the surroundings will have enhanced significantly for the individuals inside the disaster zone as well as the rescue team. The main idea behind our technique is using the Program Evaluation and Review Technique analysis along with Critical Path Method and use the Multi Criteria Decision Making (MCDM) method to decidewhich set of activities must be performed first. Since the disastrous event in one area may be well contagious to others, it is one of the robot's priorities to evaluate the relative adversity of the situation, using the above methods and prioritize its mission.
Abstract: The Finite Element Method is commonly used in the analysis of flexible manipulators to predict elastic displacements and develop joint control schemes for reducing positioning error. In order to preserve simplicity, regular geometries, ideal joints and connections are assumed. This paper presents the dynamic FE analysis of a 4- degrees of freedom open chain manipulator, intended for striking a curved 3D surface percussion musical instrument. This was done utilizing the new MultiBody Dynamics Module in COMSOL, capable of modeling the elastic behavior of a body undergoing rigid body type motion.
Abstract: The Ambidextrous Robot Hand is a robotic device with the purpose to mimic either the gestures of a right or a left hand. The symmetrical behavior of its fingers allows them to bend in one way or another keeping a compliant and anthropomorphic shape. However, in addition to gestures they can reproduce on both sides, an asymmetrical mechanical design with a three tendons routing has been engineered to reduce the number of actuators. As a consequence, control algorithms must be adapted to drive efficiently the ambidextrous fingers from one position to another and to include grasping features. These movements are controlled by pneumatic muscles, which are nonlinear actuators. As their elasticity constantly varies when they are under actuation, the length of pneumatic muscles and the force they provide may differ for a same value of pressurized air. The control algorithms introduced in this paper take both the fingers asymmetrical design and the pneumatic muscles nonlinearity into account to permit an accurate control of the Ambidextrous Robot Hand. The finger motion is achieved by combining a classic PID controller with a phase plane switching control that turns the gain constants into dynamic values. The grasping ability is made possible because of a sliding mode control that makes the fingers adapt to the shape of an object before strengthening their positions.
Abstract: Autonomous mobile robots can be found in a wide
field of applications. Their types range from household robots over
workshop robots to autonomous cars and many more. All of them
undergo a number of testing steps during development, production
and maintenance. This paper describes an approach to improve
testing of robot behavior. It was inspired by the RoboCup @work
competition that itself reflects a robotics benchmark for industrial
robotics. There, scaled down versions of mobile industrial robots
have to navigate through a workshop-like environment or operation
area and have to perform tasks of manipulating and transporting
work pieces. This paper will introduce an approach of automated
vision-based testing of the behavior of the so called youBot robot,
which is the most widely used robot platform in the RoboCup
@work competition. The proposed system allows automated testing
of multiple tries of the robot to perform a specific missions and
it allows for the flexibility of the robot, e.g. selecting different
paths between two tasks within a mission. The approach is based
on a multi-camera setup using, off the shelf cameras and optical
markers. It has been applied for test-driven development (TDD) and
maintenance-like verification of the robot behavior and performance.
Abstract: Mobile robotics is gaining an increasingly important
role in modern society. Several potentially dangerous or laborious
tasks for human are assigned to mobile robots, which are increasingly
capable. Many of these tasks need to be performed within a specified
period, i.e, meet a deadline. Missing the deadline can result in
financial and/or material losses. Mechanisms for predicting the
missing of deadlines are fundamental because corrective actions can
be taken to avoid or minimize the losses resulting from missing the
deadline. In this work we propose a simple but reliable deadline
missing prediction mechanism for mobile robots through the use of
historical data and we use the Pioneer 3-DX robot for experiments
and simulations, one of the most popular robots in academia.